Robust Global-Local Behavior Arbitration via Continuous Command Fusion Under LiDAR Errors

ArXi:2603.27273v1 Announce Type: cross Modular autonomous driving systems must coordinate global progress objectives with local safety-driven reactions under imperfect sensing and strict real-time constraints. This paper presents a ROS2-native arbitration module that continuously fuses the outputs of two unchanged and interpretable controllers: a global reference-tracking controller based on Pure Pursuit and a reactive LiDAR-based Gap Follow controller.